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= Introduction = 

A recap of the system architecture is presented in the figure below.
BLORT is running an edge-based object tracker which is initialized by a SIFT feature-based detector module. Even though SIFT features provide scale invariance, this is not the case when applied to different viewpoints. Our prior experience showed that the SIFT points extracted from an object surface greatly vary depending on the viewpoint and the distance of the camera to the object.

During the training phase, the detector registers  

= Setup file =

= Implications on speed and behaviour =